In this effort, we investigate and demonstrate multimodal, low-cost sensing on a mobile platform for detecting the presence of manmade "infrastructure" such as machinery, electric currents, chemicals, hazardous materials, and computers in hidden and confined spaces such as tunnels, sewers, caves, bunkers, and buildings. We developed new and innovative algorithms to perform node-level sensor fusion and provide information to the individual Soldier, squad and above. The proposed Army Technology Objective (ATO), Human Infrastructure Detection and Exploitation (HIDE), will develop the algorithms and sensor fusion capabilities and will not be developing the sensors or the robotics. This will be applicable for both Force Protection and urban intelligence, surveillance, and reconnaissance (ISR).